dual h-bridge v1.3 support

src/SimpleFOC.h

@@ -107,6 +107,7 @@ void loop() {
 #include "drivers/BLDCDriver6PWM.h"
 #include "drivers/StepperDriver4PWM.h"
 #include "drivers/StepperDriver2PWM.h"
+#include "drivers/StepperDriver2PWM2Pin.h"
 #include "current_sense/InlineCurrentSense.h"
 
 #endif

src/drivers/StepperDriver2PWM2Pin.cpp

@@ -0,0 +1,88 @@
+#include "StepperDriver2PWM2Pin.h"
+
+StepperDriver2PWM2Pin::StepperDriver2PWM2Pin(int ph1PWM, int ph1Dir,int ph2PWM, int ph2Dir, int en1, int en2) {
+  // Pin initialization
+  pwm1 = ph1PWM; //!< phase 1 pwm pin number
+  dir1 = ph1Dir; //!< phase 1 dir pin number
+  pwm2 = ph2PWM; //!< phase 2 pwm pin number
+  dir2 = ph2Dir; //!< phase 2 dir pin number
+
+  // enable_pin pin
+  enable_pin1 = en1;
+  enable_pin2 = en2;
+
+  // default power-supply value
+  voltage_power_supply = DEF_POWER_SUPPLY;
+  voltage_limit = NOT_SET;
+
+}
+
+// enable motor driver
+void  StepperDriver2PWM2Pin::enable(){
+    // enable_pin the driver - if enable_pin pin available
+    if ( enable_pin1 != NOT_SET ) digitalWrite(enable_pin1, HIGH);
+    if ( enable_pin2 != NOT_SET ) digitalWrite(enable_pin2, HIGH);
+    // set zero to PWM
+    setPwm(0,0);
+}
+
+// disable motor driver
+void StepperDriver2PWM2Pin::disable()
+{
+  // set zero to PWM
+  setPwm(0, 0);
+  // disable the driver - if enable_pin pin available
+  if ( enable_pin1 != NOT_SET ) digitalWrite(enable_pin1, LOW);
+  if ( enable_pin2 != NOT_SET ) digitalWrite(enable_pin2, LOW);
+
+}
+
+// init hardware pins   
+int StepperDriver2PWM2Pin::init() {
+  // a bit of separation
+  _delay(1000);
+
+  // PWM pins
+  pinMode(pwm1, OUTPUT);
+  pinMode(pwm2, OUTPUT);
+  pinMode(dir1, OUTPUT);
+  pinMode(dir2, OUTPUT);
+
+  if(enable_pin1 != NOT_SET) pinMode(enable_pin1, OUTPUT);
+  if(enable_pin2 != NOT_SET) pinMode(enable_pin2, OUTPUT);
+
+  // sanity check for the voltage limit configuration
+  if(voltage_limit == NOT_SET || voltage_limit > voltage_power_supply) voltage_limit =  voltage_power_supply;
+
+  // Set the pwm frequency to the pins
+  // hardware specific function - depending on driver and mcu
+  _configure2PWM(pwm_frequency, pwm1, pwm2);
+  return 0;
+}
+
+
+// Set voltage to the pwm pin
+void StepperDriver2PWM2Pin::setPwm(float Ualpha, float Ubeta) {  
+  float duty_cycle1(0.0),duty_cycle2(0.0);
+  // limit the voltage in driver
+  Ualpha = _constrain(Ualpha, -voltage_limit, voltage_limit);
+  Ubeta = _constrain(Ubeta, -voltage_limit, voltage_limit);
+  // hardware specific writing
+  duty_cycle1 = _constrain(abs(Ualpha)/voltage_power_supply,0.0,1.0);
+  duty_cycle2 = _constrain(abs(Ubeta)/voltage_power_supply,0.0,1.0);
+  // set direction
+  digitalWrite(dir2, Ualpha > 0 ? HIGH : LOW);
+  digitalWrite(dir1, Ubeta > 0 ? HIGH : LOW);
+
+  _delay(1);
+  // Serial.print(Ualpha);
+  // Serial.print("\t");
+  // Serial.print(Ubeta);
+  // Serial.print("\t");
+  // Serial.print(duty_cycle1);
+  // Serial.print("\t");
+  // Serial.println(duty_cycle2);
+
+  // write to hardware
+  _writeDutyCycle2PWM(duty_cycle1, duty_cycle2, pwm1, pwm2);
+}

src/drivers/StepperDriver2PWM2Pin.h

@@ -0,0 +1,55 @@
+#ifndef STEPPER_DRIVER_2PWM_2PIN_h
+#define STEPPER_DRIVER_2PWM_2PIN_h
+
+#include "../common/base_classes/StepperDriver.h"
+#include "../common/foc_utils.h"
+#include "../common/time_utils.h"
+#include "../common/defaults.h"
+#include "hardware_api.h"
+
+/**
+ 2 pwm stepper driver class
+*/
+class StepperDriver2PWM2Pin: public StepperDriver
+{
+  public:
+    /**
+      StepperMotor class constructor
+      @param ph1PWM  PWM1 phase pwm pin
+      @param ph1Dir  DIR1 phase dir pin
+      @param ph2PWM  PWM2 phase pwm pin
+      @param ph2Dir  DIR2 phase dir pin
+      @param en1 enable pin phase 1 (optional input)
+      @param en2 enable pin phase 2 (optional input)
+    */
+    StepperDriver2PWM2Pin(int ph1PWM, int ph1Dir,int ph2PWM, int ph2Dir, int en1 = NOT_SET, int en2 = NOT_SET);
+
+    /**  Motor hardware init function */
+  	int init() override;
+    /** Motor disable function */
+  	void disable() override;
+    /** Motor enable function */
+    void enable() override;
+
+    // hardware variables
+    int pwm1; //!< phase 1 pwm pin number
+    int dir1; //!< phase 1 dir pin number
+    int pwm2; //!< phase 2 pwm pin number
+    int dir2; //!< phase 2 dir pin number
+    int enable_pin1; //!< enable pin number phase 1
+    int enable_pin2; //!< enable pin number phase 2
+
+    /** 
+     * Set phase voltages to the harware 
+     * 
+     * @param Ua phase A voltage
+     * @param Ub phase B voltage
+    */
+    void setPwm(float Ua, float Ub) override;
+
+  private:
+
+};
+
+
+#endif